Deep Reinforcement Learning for Robotics Using DIANNE Tim Verbelen, - PowerPoint PPT Presentation

Aug 30, 2022 •386 likes •705 views

Deep Reinforcement Learning for Robotics Using DIANNE Tim Verbelen, Steven Bohez, Elias De Coninck, Sam Leroux, Pieter Van Molle Bert VanKeirsbilck, Pieter Simoens, Bart Dhoedt sam.leroux@ugent.be PUBLIC How can we build robots that are able to

Deep Reinforcement Learning for Robotics Using DIANNE Tim Verbelen, Steven Bohez, Elias De Coninck, Sam Leroux, Pieter Van Molle Bert VanKeirsbilck, Pieter Simoens, Bart Dhoedt sam.leroux@ugent.be PUBLIC
How can we build robots that are able to execute complex tasks without programming them explicitly ?
Kuka Youbot Gripper 5 axis arm Length: 66 cm Battery operated Embedded PC Omnidirectional wheels Max speed: 0.8 m/s 3
Kuka soft gripper Hokuyo Laser rangefinder
Reinforcement learning Agent Environment 5
Reinforcement learning Agent Environment Observation 6
Reinforcement learning Action Agent Environment 7
Reinforcement learning Reward Agent Environment 8
Deep Reinforcement learning The actor needs to process high dimensional observations to determine the next action. ● Our favorite processing block: deep neural networks ● Observation Action 9
How can we train without destroying our robot ?
11
V-REP simulator 12
Multiple simulator instances gathering experience on CPU 13
Multiple simulator instances gathering experience on CPU GPU system training the model 14
Abstraction layer with ROS Base Arm Sensor 15
How can we evaluate our models on the robot ?
Brain transplantation ! 17
How can we connect the different components ?
19
Dianne • Modular software framework for designing, training and evaluating neural networks. • Distributed training and evaluation • Java based • Easy integration (service based architecture) • GUI • Open source (AGPL 3) 20
Deployed Deployed agent agent 21
Experience Pool Deployed Deployed agent agent 22
Experience Pool Deployed Deployed Training agent agent Repository 23
Experience Pool Deployed Deployed Training agent agent Repository 24
Deep Reinforcement learning algorithms
DQN “Playing Atari with Deep Reinforcement Learning” (Mnih et al, 2013) Q Values raw laser scanner measurements Expected future return (512 values) for each possible action 26
27
DDPG Continuous control with Deep Reinforcement Learning (Lillicrap, et al. 2015) Actor network Continuous action raw laser scanner measurements (512 values) Expected future return Critic network 28
29
Visit dianne.intec.ugent.be for more information 30
PUBLIC

Recommend

CSC2621 Topics in Robotics Reinforcement Learning in Robotics Week 4: Q-Value based RL Animesh

CSC2621 Topics in Robotics Reinforcement Learning in Robotics Week 4: Q-Value based RL Animesh Garg Deep Reinforcement Learning with Double Q-learning Hado van Hasselt, Arthur Guez, David Silver Dueling Network Architectures for Deep

535 views • 24 slides

Deep Reinforcement Learning for Robotics:

Deep Reinforcement Learning for Robotics: Frontiers and Beyond Shixiang (Shane) Gu ( ) 2018.5.27 01 Deep RL: successes and limitations Computation-Constrained Data-Constrained

634 views • 21 slides

CSC2621 Topics in Robotics Reinforcement Learning in Robotics Week 11: Hierarchical Reinforcement

CSC2621 Topics in Robotics Reinforcement Learning in Robotics Week 11: Hierarchical Reinforcement Learning Animesh Garg Between MDPs and semi-MDPs: A framework for temporal abstraction in reinforcement learning Richard S. Sutton , Doina

2.18k views • 29 slides

Deep Reinforcement Learning [Mastering the Game of Go with Deep Reinforcement Learning and Tree

Deep Reinforcement Learning [Mastering the Game of Go with Deep Reinforcement Learning and Tree Search, Nature 2016] CS 486/686 University of Waterloo Lecture 21: July 12, 2017 Outline AlphaGo Supervised Learning of Policy Networks

540 views • 15 slides

1 Deep Reinforcement Learning Qianqian Li, Nayeon Koong, Langtian He What is deep reinforcement

1 Deep Reinforcement Learning Qianqian Li, Nayeon Koong, Langtian He What is deep reinforcement learning? Agent/Actor + Action + Environment + State + Reward How does reinforcement learning work?

792 views • 31 slides

Deep Neural Networks and Deep Reinforcement Learning Deep Learning, Goodfellow, Bengio and

Deep Neural Networks and Deep Reinforcement Learning Deep Neural Networks and Deep Reinforcement Learning Deep Learning, Goodfellow, Bengio and Courville [chapt. 6,7,8]; AIMA [sect. 21.1-21.3]; Sutton and Barto, Reinforcement Learning: an

527 views • 35 slides

Deep Reinforcement Learning [Human-Level Control through deep reinforcement learning, Nature

Deep Reinforcement Learning [Human-Level Control through deep reinforcement learning, Nature 2015] CS 486/686 University of Waterloo Lecture 20: July 10, 2017 Outline Value Function Approximation Linear approximation Neural

706 views • 19 slides

Reproducibility and Replicability in Deep Reinforcement Learning (and Other Deep Learning

Reproducibility and Replicability in Deep Reinforcement Learning (and Other Deep Learning Methods) Peter Henderson Statistical Society of Canada Annual Meeting 2018 Contributors Riashat Islam Phil Bachman Doina Precup David Meger Joelle

850 views • 37 slides

Target-driven Visual Navigation in Indoor Scenes Using Deep Reinforcement Learning [Zhu et al.

REINFORCEMENT LEARNING FOR ROBOTICS Target-driven Visual Navigation in Indoor Scenes Using Deep Reinforcement Learning [Zhu et al. 2017] A. James E. Cagalawan james.cagalawan@gmail.com University of Waterloo June 27, 2018 (Note: Videos in

793 views • 45 slides

CSC2621 Topics in Robotics Reinforcement Learning in Robotics Week 2: Supervised & Imitation

CSC2621 Topics in Robotics Reinforcement Learning in Robotics Week 2: Supervised & Imitation Learning Instructor: Animesh Garg TA: Dylan Turpin & Tingwu Wang Agenda Invitation to Imitation DAGGER: Dataset Aggregation

904 views • 41 slides

Deep he(a)p, big feat arXiv:1707.06887 A Distributional Perspective on Reinforcement Learning

Deep he(a)p, big feat arXiv:1707.06887 A Distributional Perspective on Reinforcement Learning arXiv:1702.08165 Reinforcement Learning with Deep Energy-Based Policies 1 / 25 Reinforcement Learning Environment Action Reward Interpreter State

531 views • 25 slides

Reinforcement Learning CS 294-112: Deep Reinforcement Learning Sergey Levine Class Notes 1.

Introduction to Reinforcement Learning CS 294-112: Deep Reinforcement Learning Sergey Levine Class Notes 1. Homework 1 is due next Wednesday! Remember that Monday is a holiday, so no office hours 2. Remember to start forming final project

877 views • 48 slides

CSC2621 Topics in Robotics Reinforcement Learning in Robotics Week 2: Behavioral Cloning from

CSC2621 Topics in Robotics Reinforcement Learning in Robotics Week 2: Behavioral Cloning from Observation Tingwu Wang, Dylan Turpin, Animesh Garg Agenda Background Problem Setting Behavior Cloning / Dagger Generative Adversarial

411 views • 12 slides

Advanced Model-Based Reinforcement Learning CS 294-112: Deep Reinforcement Learning Sergey

Advanced Model-Based Reinforcement Learning CS 294-112: Deep Reinforcement Learning Sergey Levine Class Notes 1. Homework 3 is extended by one week, to Wednesday after next Todays Lecture 1. Managing overfitting in model-based RL

686 views • 40 slides

CSC2621 Topics in Robotics Reinforcement Learning in Robotics Week 1: Introduction &

CSC2621 Topics in Robotics Reinforcement Learning in Robotics Week 1: Introduction & Logistics Animesh Garg Agenda Logistics Course Motivation Primer in RL Human learning and RL (sample paper presentation) Presentation

1.46k views • 110 slides

Soft Actor-Critic: Deep Reinforcement Learning for Robotics Finn Rietz University of Hamburg

MIN Faculty Department of Informatics Soft Actor-Critic: Deep Reinforcement Learning for Robotics Finn Rietz University of Hamburg Faculty of Mathematics, Informatics and Natural Sciences Department of Informatics Technical Aspects of

742 views • 37 slides

Deep Reinforcement Learning and Complex Environments Raia Hadsell End-to-end Deep Learning

Deep Reinforcement Learning and Complex Environments Raia Hadsell End-to-end Deep Learning for robots? slide from V. Vanhoucke End-to-end Deep Learning for robots? 2010 : Speech Recognition Audio Acoustic Model Phonetic Model

1.05k views • 65 slides

Inverse Reinforcement Learning CS 294-112: Deep Reinforcement Learning Sergey Levine Todays

Inverse Reinforcement Learning CS 294-112: Deep Reinforcement Learning Sergey Levine Todays Lecture 1. So far: manually design reward function to define a task 2. What if we want to learn the reward function from observing an expert, and

650 views • 33 slides

CMP784 DEEP LEARNING Lecture #12 Deep Reinforcement Learning Aykut Erdem // Hacettepe

DeepLoco by X. B. Peng, G. Berseth & M. van de Panne CMP784 DEEP LEARNING Lecture #12 Deep Reinforcement Learning Aykut Erdem // Hacettepe University // Spring 2018 Neural Face by Taehoon Kim Previously on CMP784 Generative

895 views • 71 slides

Introduction to Deep Reinforcement Learning and Control Spring 2019, CMU 10-403 Katerina

Carnegie Mellon School of Computer Science Deep Reinforcement Learning and Control Introduction to Deep Reinforcement Learning and Control Spring 2019, CMU 10-403 Katerina Fragkiadaki Course Logistics Course website : all you need to

1.13k views • 88 slides

Reinforcement Learning Timothy Chou Charlie Tong Vincent Zhuang April 19, 2016 Reinforcement

Reinforcement Learning Q-Learning Deep Q-Learning on Atari Reinforcement Learning Timothy Chou Charlie Tong Vincent Zhuang April 19, 2016 Reinforcement Learning Q-Learning Deep Q-Learning on Atari Table of Contents Reinforcement Learning

938 views • 63 slides

Deep Reinforcement Learning 1 Outline 1. Overview of Reinforcement Learning 2. Policy Search 3.

Deep Reinforcement Learning 1 Outline 1. Overview of Reinforcement Learning 2. Policy Search 3. Policy Gradient and Gradient Estimators 4. Q-prop: Sample Efficient Policy Gradient and an Off-policy Critic 5. Model Based Planning in Discrete

769 views • 53 slides

CS885 Reinforcement Learning Module 2: June 6, 2020 Maximum Entropy Reinforcement Learning

CS885 Reinforcement Learning Module 2: June 6, 2020 Maximum Entropy Reinforcement Learning Haarnoja, Tang et al. (2017) Reinforcement Learning with Deep Energy Based Policies, ICML . Haarnoja, Zhou et al. (2018) Soft Actor-Critic: Off-Policy

682 views • 24 slides

10703 Deep Reinforcement Learning Reinforcement Learning in Humans and Animals Tom Mitchell

10703 Deep Reinforcement Learning Reinforcement Learning in Humans and Animals Tom Mitchell October 29, 2018 Reading: Barto & Sutton Chapter 15 Tom Mitchell, October 2018 Outline RL in primates RL in humans Error signals and

448 views • 20 slides